CN103480954B - A kind of Autonomic Mobile Robot System for narrow space welding - Google Patents
A kind of Autonomic Mobile Robot System for narrow space welding Download PDFInfo
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- CN103480954B CN103480954B CN201310425319.4A CN201310425319A CN103480954B CN 103480954 B CN103480954 B CN 103480954B CN 201310425319 A CN201310425319 A CN 201310425319A CN 103480954 B CN103480954 B CN 103480954B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Abstract
For an Autonomic Mobile Robot System for narrow space welding, comprise mobile apparatus human body, control system and MIG/MAG welding system.Mobile apparatus human body comprises robot moving platform and welding torch adjusting device; Control system comprises sensor-based system and robot controlling case; MIG/MAG welding system comprises welding gun, the source of welding current, wire-feed motor and protection gas; Mobile apparatus human body, control system is connected by cable with MIG/MAG welding system three.The invention has the advantages that robot architecture is small and exquisite, adopt three-wheel differential driving wheel-type move mode, can in narrow space autonomous flexible, and can realize automatically identifying weld seam and implementing weld job, this Dynamic System is simple, easy to use, be particularly suitable for the automatic welding of steel construction piece in narrow space.
Description
Technical field
The invention belongs to robotics, relate to a kind of Autonomic Mobile Robot System for the welding of narrow space structural member particularly.
Background technology
Along with more and more higher to the requirement of the quality of welding and welding efficiency, human weld's cost improves, and makes welding robot Man's Demands and uses also more and more extensive.
Due to the welding of narrow space, as the welding of cabin, internal container, have working space narrow and small, during welder's operation, health can not freely stretch, and condition of work is very severe, in addition, the most top seal of these structures, light is more dim, and flue dust during welding is difficult to discharge, very large to the actual bodily harm of welder, even cause the features such as dead.
For existing industrial robot, its arm length is generally 1.5-2.0m, because its base can not move, so can not weld large-sized workpiece.For planer-type welding robot, although weld size is comparatively large, be also only limitted in the spatial dimension in workshop.And said structure stock size is very large, majority will weld outside workshop.In addition, the welding robot needs programming of applying in current industry or teach mode carry out work, huge for this build, need to be difficult to adapt in building site and the on-the-spot workpiece carrying out welding.Although also develop a lot of Mobile welding machine people both at home and abroad, in order to solve the job site automatic welding problem of large-scale workpiece, but these robots are all the weld jobs for large-scale open area, system complex, use and move inconvenience, being difficult to the Automation of Welding requirement adapting to narrow space.
Summary of the invention
The object of the invention is for narrow space welding requirements, a kind of autonomous welding robot system is provided.In particular to a kind of autonomous welding robot system that can realize steel construction piece welding under narrow space, enclosed environment.
Autonomic Mobile Robot System for narrow space welding of the present invention comprises: mobile apparatus human body, control system and MIG/MAG welding system;
Mobile apparatus human body comprises robot chassis, welding torch adjusting device and welding cable fixer;
Control system comprises sensor-based system and robot controlling case;
MIG/MAG welding system comprises welding torch, the source of welding current, wire-feed motor and protection gas;
Mobile apparatus human body, control system is connected by cable with MIG/MAG welding system three.
Described robot chassis comprises drive unit, directive wheel, the body of adjustable permanent magnetism gap adsorbent equipment and installation said apparatus; Described robot chassis adopts two wheel guide robot drives structure form, and two driving wheels and directive wheel form robot body plane of movement; Two rear drive sprocket differentials are utilized to realize moving of robot body and turn to; Described drive unit comprises a driving shaft, two stepper motors, two decelerators, two pairs of travelling gear, two driving wheels and two driving shaft bearings compositions; Installing insulating rubber tyre on described driving wheel, increases the coefficient of friction with welding work pieces surface, makes mobile apparatus human body and welding work pieces insulate simultaneously; Described directive wheel comprises multi-directional ball and insulation sleeve, adopts bolt to be installed on front part of a body, forms mobile apparatus human body plane of movement, and insulated by insulation sleeve and body with two driving wheels; Described multi-directional ball comprises directive wheel body, steel ball, gland, elastic scheibe, steel ball; Described adjustable permanent magnetism gap adsorbent equipment comprises magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing block, magnetic support axle, permanent magnet is fixedly mounted in magnetic support by magnet driver plate, magnetic support is connected with chassis supported by magnetic support bearing block, and can rotate around magnetic support axle, magnet regulating handle is connected with magnet camshaft; Described adjustable permanent magnetism gap adsorbent equipment is installed between directive wheel and driving shaft, and the absorption affinity between adjustable permanent magnetism gap adsorbent equipment and magnetic conduction workpiece regulates air gap between the two to realize by rotor magnet regulating handle;
Described welding torch adjusting device comprises crosshead shoe and welding torch jockey; Crosshead shoe is made up of cross sliding clock and vertical slipper, and cross sliding clock is made up of a ball screw guide rail and stepper motor, and vertical slipper can the screw rod of manual adjustments form by one, and is installed on body by connecting plate; Described welding torch jockey structure comprises: welding torch Connection Block, pad, welding torch connecting axle, regulating handle, welding torch connecting plate and nut; Welding torch connecting plate is installed on cross sliding clock by bolt; Welding torch and welding torch Connection Block with bolts, welding torch Connection Block is installed on connecting plate by welding torch connecting axle, and by a nut screwing clamping; Welding torch connecting axle one end is connected with regulating handle;
Described welding cable fixer comprises holder, cable tray, cable tray axle, cable flap, fishbolt, binding nut; Described holder is secured by bolts on welding robot human organism; Described holder is connected with attaching nut by connecting bolt with cable tray, and can relatively rotate; Described cable tray is connected by cable tray axle with cable flap; Welding cable is installed between cable tray and cable flap, and is fixed to clamp by fishbolt and binding nut;
Described sensor-based system by rotary arc sensor, current Hall sensor, keep away barrier sensor and dropproof sensor, rotary arc sensor and welding torch form and are integrally installed on welding torch jockey front end; Described Hall element is fixed on welding cable, for detecting the current signal in welding process; Described barrier sensor of keeping away adopts sonac, is installed on front part of a body; Described dropproof sensor adopts photoelectric sensor, is installed on body surrounding;
Described robot controlling case comprises master controller and stepper motor driver, and is installed on mobile platform; Described master controller is connected by cable with sensor-based system, stepper motor driver; Described stepper motor driver is connected by cable with stepper motor; The source of welding current in described MIG/MAG welding system, wire-feed motor are connected by cable with the welding torch on mobile robot with protection gas;
The working method of the described Autonomic Mobile Robot System for narrow space welding is as follows:
Described robot first by manual operation touch-screen to weld start position, according to the welding process requirement of workpiece, vertical slipper adjusting handle is used to regulate welding stem elongation, welding torch jockey adjustment welding torch pivot angle, arranging welding type number is V-arrangement or angle welding, speed of welding, the parameter such as welding current and voltage, play arc welding, the industrial control computer setup control cycle, in rotary scanning welding torch, welding gun at the uniform velocity rotates generation pulse signal, for data collecting card provides sampling trigger signal, industrial control computer gathers current value according to Hall current sensor and realizes weld seam deviation identification, calculate the controlled quentity controlled variable controlling each drive motors, input to motion control card and convert the direction and pulse signal that control drive motors to, then the motion of motor driver control chassis and each motor of welding torch adjusting device, thus control welding gun moves and welding, realize the autonomous in welding process and automatic welding,
Described mobile welding robot body chassis move and turn to by control two independently drive motors rotating speed realize, when two drive motors rotating speeds are identical, Robot rectilinear motion; As turned to, two drive motors rotating speed differences can be controlled and realize;
When described obstacle avoidance apparatus detects that there is a barrier in front, sonac signals to robot controller, and then controller turns to keep away barrier by controlling two drive motors differentials.When described fall-proofing device detects front without workpiece planarization, sensor signals to robot controller, and then controller makes robot chassis stop motion by control two drive motors;
It is adjustable that described permanent magnetism gap adsorbent equipment can realize absorption affinity, specific works principle is: when mobile robot's body chassis normally works, the basic circle of the cam of magnet camshaft contacts with magnet driver plate, now magnetic adsorption device and magnetic conduction workpiece are apart from minimum, magnetic adsorbability is maximum, increases robot driving force and stability; When rotor magnet regulating handle certain angle, the cam upwards jack-up magnet driver plate of magnet camshaft, makes magnetic support rotate around magnetic support axle, thus the distance of permanent magnet and magnetic conduction workpiece is increased, thus magnetic adsorbability is reduced.When operating personnel need transfer robot, magnet regulating handle can be made to rotate the angle of 90 degree, and now the distance of permanent magnet and magnetic conduction workpiece is maximum, and magnetic adsorbability is minimum;
Welding cable is installed between cable tray and cable flap, is fixed to clamp by fishbolt and binding nut; Welding robot, when moving process, because cable tray and holder can relatively rotate around connecting bolt, makes welding cable be in relatively large bending radius, reduces wire-feeder resistance;
Described welding torch jockey, when welding robot starts, as regulated welding torch pivot angle, oppositely unscrews regulating handle, now, be welded to connect seat can relatively rotate, after adjusting to required angle by boxing torch connecting plate, forward tightens regulating handle, thus makes to be welded to connect seat and welding torch connecting plate is fixed.
Beneficial effect of the present invention:
Employing two wheel guide robot drives, and can realize 360 degree, original place and turns to and move, effectively reduce the dead angle of working space, controls simple; Adopt permanent magnetism gap adsorbent equipment, adhesive force is large, improves driving force and stability; Meanwhile, because absorption affinity is adjustable, make robot safe in handling process, laborsaving; Adopt sonac to detect body preceding object thing, have and keep away barrier ability; Because body surrounding has installed photoelectric sensor, can environment residing for measuring robots, prevent robot from falling damage; Welding torch pivot angle adjusts arbitrarily by regulating handle, is separated with robot body without the need to making welding torch; Adopt arc sensor to realize weld seam recognition in welding process, tracking accuracy can reach ± 0.5mm; Robot appearance and size is little, lightweight, can under narrow space working environment flexible motion; Robot control system is integrated on robot body, easy to use.
Accompanying drawing explanation
Fig. 1 is the structural representation of the Autonomic Mobile Robot System for narrow space welding of the present invention;
In figure: 1, rotary arc sensor 2, mobile apparatus human body 3, robot low-tension supply 4, stube cable 5, job site distribution box 6, electric welding machine 7, wire-feed motor 8, protection gas cylinder 9, be welded to connect cable 10, welding work pieces;
Fig. 2 is of the present invention for mobile robot's body construction schematic diagram in the autonomous mobile robot of narrow space welding;
In figure: 11, robot chassis 12, sonac 13, body cover 14, magnetic force regulating handle 15, driving wheel 16, motor cover 17, machine body cover 18, handle 19, vertical slipper adjusting handle 20, touch-screen 21, dust cover 22, welding torch adjusting device 23, welding cable fixer;
Fig. 3 is of the present invention for travel mechanism human body internal structure schematic diagram in the Autonomic Mobile Robot System of narrow space welding;
In figure: 102, photoelectric sensor 106, control cabinet 111, body 221, welding torch jockey 222, cross sliding clock 224, vertical slipper;
Fig. 4 is of the present invention for mobile apparatus human body chassis structure schematic diagram in the Autonomic Mobile Robot System of narrow space welding;
In figure: 112, drive unit 113, adjustable permanent magnetism gap adsorbent equipment 114, photoelectric sensor 115, directive wheel;
Fig. 5 is of the present invention for mobile robot's ontology-driven apparatus structure schematic diagram in the Autonomic Mobile Robot System of narrow space welding;
In figure: 51, stepper motor 52, motor contiguous block 53, decelerator 54, screw 55, driving shaft bearing 56, driving gear 57, driven gear 58, adapter sleeve 59, driving shaft 60, driving gear setting-up piece;
Fig. 6 is of the present invention for mobile apparatus human body adjustable permanent magnetism gap adsorbent equipment structural representation in the Autonomic Mobile Robot System of narrow space welding;
In figure: 61, magnetic support axle 62, magnetic support bearing block 63, magnetic support 64, magnet camshaft 65, magnet cam sleeve 66, magnet driver plate 67, permanent magnet;
Fig. 7 is the sectional view for mobile apparatus human body wheel design in the Autonomic Mobile Robot System of narrow space welding of the present invention;
In figure: 701, directive wheel body 702, gland 703, elastic scheibe 704, multi-directional ball;
Fig. 8 is of the present invention for mobile apparatus human body sealing wire cable fixture structure schematic diagram in the Autonomic Mobile Robot System of narrow space welding;
In figure: 81, holder 82, connecting bolt 83, attaching nut 84, cable tray axle 85, cable flap 86, fishbolt 87, binding nut 88, connecting axle 89, cable tray;
Fig. 9 is the structural representation for mobile apparatus human body welding torch jockey in the Autonomic Mobile Robot System of narrow space welding of the present invention;
In figure: 91, welding torch Connection Block 92, pad 93, welding torch connecting axle 94, regulating handle 95, welding torch connecting plate;
Figure 10 is the control system hardware configuration schematic diagram of the Autonomic Mobile Robot System for narrow space welding of the present invention.
Detailed description of the invention
Accompanying drawings is as follows:
Autonomic Mobile Robot System for narrow space welding of the present invention, comprises mobile apparatus human body, control system and MIG/MAG welding system.It is characterized in that:
Mobile apparatus human body comprises robot chassis, welding torch adjusting device and welding cable fixer;
Control system comprises sensor-based system and robot controlling case;
MIG/MAG welding system comprises welding torch, the source of welding current, wire-feed motor and protection gas;
Mobile apparatus human body, control system is connected by cable with MIG/MAG welding system three.
Described robot chassis comprises employing drive unit, directive wheel, the body of adjustable permanent magnetism gap adsorbent equipment and installation said apparatus; Described robot chassis two wheel guide robot drives structure form, two driving wheels and directive wheel form robot body plane of movement; Two rear drive sprocket differentials are utilized to realize moving of mobile apparatus human body and turn to; Described drive unit comprises a driving shaft, two stepper motors, two decelerators, two pairs of travelling gear, two driving wheels and two driving shaft bearings compositions; Installing insulating rubber tyre on described driving wheel, increases the coefficient of friction with welding work pieces surface, makes mobile apparatus human body and welding work pieces insulate simultaneously; Described directive wheel comprises multi-directional ball and insulation sleeve, adopts bolt to be installed on front part of a body, forms mobile apparatus human body plane of movement, and insulated by insulation sleeve and body with two driving wheels; Described multi-directional ball comprises directive wheel body, steel ball, gland, elastic scheibe, steel ball.Described permanent magnetism gap adsorbent equipment comprises magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing block, magnetic support axle, permanent magnet is fixedly mounted in magnetic support by magnet driver plate, magnetic support is connected with chassis supported by magnetic support bearing block, and can rotate around magnetic support axle, magnet regulating handle is connected with magnet camshaft; Described adjustable permanent magnetism gap adsorbent equipment is installed between directive wheel and driving shaft, and the absorption affinity between adjustable permanent magnetism gap adsorbent equipment and magnetic conduction workpiece regulates air gap between the two to realize by rotor magnet regulating handle.
Described welding torch adjusting device comprises crosshead shoe and welding torch jockey; Crosshead shoe is made up of cross sliding clock and vertical slipper, and cross sliding clock is made up of a ball screw guide rail and stepper motor, and vertical slipper can the screw rod of manual adjustments form by one, and is installed on body by connecting plate; Described welding torch jockey structure comprises: welding torch Connection Block, pad, welding torch connecting axle, regulating handle, welding torch connecting plate and nut; Welding torch connecting plate is installed on cross sliding clock by bolt; Welding torch and welding torch Connection Block with bolts, welding torch Connection Block is installed on connecting plate by welding torch connecting axle, and by a nut screwing clamping; Welding torch connecting axle one end is connected with regulating handle.
Described welding cable fixer comprises holder, cable tray, cable tray axle, cable flap, fishbolt, binding nut; Described holder is secured by bolts on welding robot human organism; Described holder is connected with attaching nut by connecting bolt with cable tray, and can relatively rotate; Described cable tray is connected by cable tray axle with cable flap; Welding cable is installed between cable tray and cable flap, and is fixed to clamp by fishbolt and binding nut.
Described sensor-based system by rotary arc sensor, current Hall sensor, keep away barrier sensor and dropproof sensor, rotary arc sensor and welding torch form and are integrally installed on welding torch jockey front end; Described Hall element is fixed on welding cable, for detecting the current signal in welding process; Described barrier sensor of keeping away adopts sonac, is installed on front part of a body; Described dropproof sensor adopts photoelectric sensor, is installed on body surrounding;
Described robot controlling case comprises master controller and stepper motor driver, and is installed on mobile platform; Described master controller is connected by cable with sensor-based system, stepper motor driver; Described stepper motor driver is connected by cable with stepper motor.
The source of welding current in described MIG/MAG welding system, wire-feed motor are connected by cable with the welding torch in robot with protection gas.
The working method of the described Autonomic Mobile Robot System for narrow space welding is as follows:
Described robot first by manual operation touch-screen to weld start position, according to the welding process requirement of workpiece, vertical slipper adjusting handle is used to regulate welding stem elongation, welding torch jockey adjustment welding torch pivot angle, welding type number (V-arrangement or angle welding) is set, speed of welding, the parameter such as welding current and voltage, play arc welding, the industrial control computer setup control cycle, in rotary scanning welding torch, welding gun at the uniform velocity rotates generation pulse signal, for data collecting card provides sampling trigger signal, industrial control computer gathers current value according to Hall current sensor and realizes weld seam deviation identification, calculate the controlled quentity controlled variable controlling each drive motors, input to motion control card and convert the direction and pulse signal that control drive motors to, then motor driver controls the motion of mobile robot chassis and each motor of welding torch adjusting device, thus control welding torch moves and welding, realize the autonomous in welding process and automatic welding.
Described mobile welding robot body chassis move and turn to by control two independently drive motors rotating speed realize, when two drive motors rotating speeds are identical, Robot rectilinear motion; As turned to, two drive motors rotating speed differences can be controlled and realize.
When described obstacle avoidance apparatus detects that there is a barrier in front, sonac signals to robot controller, and then controller turns to keep away barrier by controlling two drive motors differentials.When described fall-proofing device detects front without workpiece planarization, sensor signals to Movement Controller of Mobile Robot, and then controller makes robot chassis stop motion by control two drive motors.
It is adjustable that described adjustable permanent magnetism gap adsorbent equipment can realize absorption affinity, specific works principle is: when mobile robot's body chassis normally works, the basic circle of the cam of magnet camshaft contacts with magnet driver plate, now magnetic adsorption device and magnetic conduction workpiece are apart from minimum, magnetic adsorbability is maximum, increases robot driving force and stability; When rotor magnet regulating handle certain angle, the cam upwards jack-up magnet driver plate of magnet camshaft, makes magnetic support rotate around magnetic support axle, thus the distance of permanent magnet and magnetic conduction workpiece is increased, thus magnetic adsorbability is reduced.When operating personnel need transfer robot, magnet regulating handle can be made to rotate the angle of 90 degree, and now the distance of permanent magnet and magnetic conduction workpiece is maximum, and magnetic adsorbability is minimum.
Welding cable is installed between cable tray and cable flap, is fixed to clamp by fishbolt and binding nut; Welding robot, when moving process, because cable tray and holder can relatively rotate around connecting bolt, makes welding cable be in relatively large bending radius, reduces wire-feeder resistance.
Described welding torch jockey, when welding robot starts, as regulated welding torch pivot angle, oppositely unscrews regulating handle, now, be welded to connect seat can relatively rotate, after adjusting to required angle by boxing torch connecting plate, forward tightens regulating handle, thus makes to be welded to connect seat and welding torch connecting plate is fixed.
Claims (6)
1., for an Autonomic Mobile Robot System for narrow space welding, it is characterized in that: described system comprises mobile apparatus human body, control system and MIG/MAG welding system;
Mobile apparatus human body comprises robot chassis, welding torch adjusting device and welding cable fixer;
Control system comprises sensor-based system and robot controlling case;
MIG/MAG welding system comprises welding torch, the source of welding current, wire-feed motor and protection gas;
Mobile apparatus human body, control system is connected by cable with MIG/MAG welding system three;
Described robot chassis comprises drive unit, directive wheel, adjustable permanent magnetism gap adsorbent equipment and installs the body of said apparatus; Described robot chassis adopts two wheel guide robot drives structure form, and two driving wheels and directive wheel form mobile apparatus human body plane of movement; Two rear drive sprocket differentials are utilized to realize moving of mobile apparatus human body and turn to;
Described drive unit comprises a driving shaft, two stepper motors, two decelerators, two pairs of travelling gear, two driving wheels and two driving shaft bearings compositions;
Installing insulating rubber tyre on described driving wheel, increases the coefficient of friction with welding work pieces surface, makes mobile apparatus human body and welding work pieces insulate simultaneously;
Described directive wheel comprises multi-directional ball and insulation sleeve, adopts bolt to be installed on front part of a body, forms mobile apparatus human body plane of movement, and insulated by insulation sleeve and body with two driving wheels;
Described multi-directional ball comprises directive wheel body, steel ball, gland, elastic scheibe, steel ball;
Described adjustable permanent magnetism gap adsorbent equipment comprises magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing block, magnetic support axle, permanent magnet is fixedly mounted in magnetic support by magnet driver plate, magnetic support is connected with chassis supported by magnetic support bearing block, and can rotate around magnetic support axle, magnet regulating handle is connected with magnet camshaft;
Described adjustable permanent magnetism gap adsorbent equipment is installed between directive wheel and driving shaft, and the absorption affinity between adjustable permanent magnetism gap adsorbent equipment and magnetic conduction workpiece regulates air gap between the two to realize by rotor magnet regulating handle.
2. a kind of Autonomic Mobile Robot System for narrow space welding according to claim 1, is characterized in that: described welding torch adjusting device comprises crosshead shoe and welding torch jockey; Crosshead shoe is made up of cross sliding clock and vertical slipper, and cross sliding clock is made up of a ball screw guide rail and stepper motor, and vertical slipper can the screw rod of manual adjustments form by one, and is installed on body by connecting plate; Welding torch jockey structure comprises: welding torch Connection Block, pad, welding torch connecting axle, regulating handle, welding torch connecting plate and nut; Welding torch connecting plate is installed on cross sliding clock by bolt; Welding torch and welding torch Connection Block with bolts, welding torch Connection Block is installed on connecting plate by welding torch connecting axle, and by a nut screwing clamping; Welding torch connecting axle one end is connected with regulating handle.
3. a kind of Autonomic Mobile Robot System for narrow space welding according to claim 1, is characterized in that: described welding cable fixer comprises holder, cable tray, cable tray axle, cable flap, fishbolt, binding nut; Holder is secured by bolts on welding robot human organism; Holder is connected with attaching nut by connecting bolt with cable tray, and can relatively rotate; Described cable tray is connected by cable tray axle with cable flap; Welding cable is installed between cable tray and cable flap, and is fixed to clamp by fishbolt and binding nut.
4. a kind of Autonomic Mobile Robot System for narrow space welding according to claim 1, it is characterized in that: described sensor-based system by rotary arc sensor, current Hall sensor, keep away barrier sensor and dropproof sensor, rotary arc sensor and welding torch form and are integrally installed on welding torch jockey front end; Hall element is fixed on welding cable, for detecting the current signal in welding process; Keep away barrier sensor and adopt sonac, be installed on front part of a body; Dropproof sensor adopts photoelectric sensor, is installed on body surrounding.
5. a kind of Autonomic Mobile Robot System for narrow space welding according to claim 1, is characterized in that: described robot controlling case comprises master controller and stepper motor driver, and is installed on mobile platform; Master controller is connected by cable with sensor-based system, stepper motor driver; Stepper motor driver is connected by cable with stepper motor.
6. a kind of Autonomic Mobile Robot System for narrow space welding according to claim 1, is characterized in that: the source of welding current in described MIG/MAG welding system, wire-feed motor are connected by cable with the welding torch in robot with protection gas.
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| CN201310425319.4A CN103480954B (en) | 2013-09-18 | 2013-09-18 | A kind of Autonomic Mobile Robot System for narrow space welding |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104308344B (en) * | 2014-10-08 | 2016-04-13 | 浙江工业大学 | Narrow dark cabinets cavity welding robot |
| CN106141520A (en) * | 2016-08-01 | 2016-11-23 | 珠海东方重工有限公司 | Portable welding machine people and welding procedure thereof |
| CN106735745A (en) * | 2016-12-20 | 2017-05-31 | 柳州振业焊接机电设备制造有限公司 | One kind is based on rotating the arc welding equipment |
| CN106513954A (en) * | 2016-12-20 | 2017-03-22 | 柳州振业焊接机电设备制造有限公司 | Control system for automatic soldering tin machine |
| CN110640276A (en) * | 2019-09-16 | 2020-01-03 | 江南造船(集团)有限责任公司 | Submerged arc welding device and welding method thereof |
| JP2021070101A (en) * | 2019-10-31 | 2021-05-06 | セイコーエプソン株式会社 | Control method and calculation device |
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| JP3472004B2 (en) * | 1995-12-20 | 2003-12-02 | 住重テクノセンター株式会社 | Processing cart |
| JP2000219344A (en) * | 1999-01-29 | 2000-08-08 | Kawamura Seiki Kk | Sucking device |
| CN2552648Y (en) * | 2002-07-12 | 2003-05-28 | 阎炳义 | Crawler-type permanent magnet creeping mechanism |
| CN200957488Y (en) * | 2006-09-05 | 2007-10-10 | 中国石油天然气集团公司 | Automatic of magnetic-adsorbing oil tank |
| CN101947776B (en) * | 2010-09-22 | 2011-08-31 | 上海交通大学 | Wheel type barrier-crossing wall-climbing robot |
| CN102699893B (en) * | 2012-06-07 | 2015-03-25 | 中国东方电气集团有限公司 | Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom |
| CN102689083B (en) * | 2012-06-07 | 2015-05-13 | 中国东方电气集团有限公司 | Autonomous mobile robot system for metal-inert-gas (MIG)/metal-active-gas (MAG) multilayer multipass welding of large thick plate |
| CN103071895B (en) * | 2013-01-10 | 2015-01-07 | 唐山松下产业机器有限公司 | Control system and control method of welding equipment |
| CN203162349U (en) * | 2013-03-28 | 2013-08-28 | 国家电网公司 | Electric power supporting frame for low-voltage cable |
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